version: 66.12
revision: DORADO
glider: 626
mission: 3
dive: 802
start: 10 9 121 0 51 34
data:
$ID,626
$MISSION,3
$DIVE,802
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,250
$D_NO_BLEED,150
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,66
$T_MISSION,180
$T_ABORT,550
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54816
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.011885
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2141
$TGT_DEFAULT_LON,-15809
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,199
$PITCH_MAX,3921
$C_PITCH,2750
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,37.799999
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,183
$ROLL_MAX,3761
$ROLL_DEG,40
$C_ROLL_DIVE,2265
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00061500003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.91942
$PRESSURE_SLOPE,0.00014088588
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,67
$DEVICE5,54
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044219922
$SEABIRD_T_H,0.00064468966
$SEABIRD_T_I,2.6862755e-05
$SEABIRD_T_J,3.3151866e-06
$SEABIRD_C_G,-10.061407
$SEABIRD_C_H,1.1334444
$SEABIRD_C_I,-0.0030129163
$SEABIRD_C_J,0.00029655115
$GPS1,091021,004449,2244.8096,-15800.4883,11,0.7,45,9.8,2.1,215.9,11,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-73.8
$GPS2,091021,005044,2244.7595,-15800.5605,6,0.7,23,9.8,0.0,252.7,11,9.0
$SPEED_LIMITS,0.217,0.227
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1300.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,30.8,1055,-18.0,-10.101,-24.02,1992
$D_GRID,200
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.55,-116.8,122,2291,1285,1191,0.0,0.0,0,73,0.00,0.00,-54.35,0.000,16386,0.000,0.000,123,2292,2964,2948,2980,0,0,0,0,0,0,15.18,28.83,15.19
$GC,76,-0.55,-116.8,122,2292,2947,2980,3.3,-6.8,8,99,8.50,2.33,-5.18,0.000,18692,0.430,0.072,2556,3679,3277,3257,3298,0,0,0,0,0,0,14.12,13.88,14.40
$GC,156,-0.55,-116.8,2555,3679,3262,3297,25.0,-13.0,21,164,0.05,2.40,0.00,0.000,3078,0.348,0.047,2575,2254,3278,3262,3295,0,0,0,0,0,0,14.61,14.82,14.83
$GC,413,-0.55,-116.8,2575,2251,3266,3293,67.5,-14.9,49,424,0.00,2.30,0.00,0.000,516,0.000,0.060,2575,861,3279,3267,3291,0,0,0,0,0,0,15.23,14.54,15.24
$GC,556,-0.55,-116.8,2575,861,3268,3291,85.6,-12.0,62,564,0.00,2.40,0.00,0.000,3078,0.000,0.060,2566,2256,3278,3268,3289,0,0,0,0,0,0,14.99,14.83,15.01
$GC,803,-0.55,-116.8,2565,2256,3269,3290,120.1,-13.7,87,812,0.00,2.35,0.00,0.000,2564,0.000,0.058,2566,860,3279,3268,3290,0,0,0,0,0,0,15.28,14.76,15.28
$GC,860,-0.55,-116.8,2565,860,3269,3290,127.3,-13.3,92,868,0.05,2.42,0.00,0.000,3078,0.382,0.060,2573,2273,3279,3269,3290,0,0,0,0,0,0,14.63,14.85,14.88
$GC,1108,-0.55,-116.8,2573,2273,3269,3290,156.2,-11.4,117,1118,0.00,2.35,0.00,0.000,516,0.000,0.056,2573,860,3279,3269,3290,0,0,0,0,0,0,15.27,14.56,15.28
$GC,1164,-0.55,-116.8,2573,860,3269,3290,162.2,-10.7,122,1171,0.00,2.38,0.00,0.000,3078,0.000,0.059,2564,2267,3279,3269,3290,0,0,0,0,0,0,15.04,14.90,15.06
$GC,1414,-0.55,-116.8,2564,2268,3269,3289,190.8,-12.0,147,1424,0.00,2.38,0.00,0.000,2564,0.000,0.057,2564,859,3279,3269,3289,0,0,0,0,0,0,15.28,14.69,15.28
$STATE,1496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1496,begin apogee
$GC,1505,-0.13,0.0,2554,2127,3269,3289,200.8,-11.1,155,1609,0.40,0.00,94.75,1.070,10246,0.230,0.000,2707,2126,2798,2863,2734,0,0,0,0,0,0,14.47,14.61,13.91
$STATE,1610,end apogee,CONTROL_FINISHED_OK
$STATE,1610,begin climb
$GC,1613,0.55,116.8,2708,2127,2863,2734,207.2,0.0,166,1719,0.47,2.42,97.38,1.066,10756,0.129,0.054,2928,715,2320,2401,2239,0,0,0,0,0,0,14.58,14.33,13.83
$GC,1847,0.58,163.4,2928,715,2390,2239,202.7,7.7,189,1897,0.00,2.38,38.55,1.050,11270,0.000,0.053,2928,2126,2131,2218,2045,0,0,0,0,0,0,14.65,14.61,13.99
$GC,2138,0.58,163.4,2928,2126,2217,2041,172.1,11.1,218,2146,0.00,2.35,0.00,0.000,2308,0.000,0.066,2928,3534,2129,2217,2041,0,0,0,0,0,0,15.19,14.71,15.20
$GC,2173,0.58,163.4,2928,3534,2216,2042,168.1,11.9,221,2181,0.00,2.33,0.00,0.000,5126,0.000,0.048,2939,2124,2129,2217,2042,0,0,0,0,0,0,15.00,14.89,15.02
$GC,2423,0.59,191.5,2939,2123,2217,2041,143.3,8.7,246,2453,0.00,2.42,23.40,1.005,8452,0.000,0.064,2939,3537,2018,2103,1933,0,0,0,0,0,0,15.23,14.84,14.13
$GC,2482,0.60,195.2,2938,3537,2103,1933,137.5,9.9,252,2493,0.00,2.33,4.72,0.794,13318,0.000,0.050,2950,2131,2002,2087,1918,0,0,0,0,0,0,14.70,14.66,14.04
$GC,2733,0.61,214.3,2949,2132,2087,1915,113.4,9.1,277,2755,0.00,2.42,16.20,0.956,12548,0.000,0.067,2949,3540,1924,2004,1845,0,0,0,0,0,0,15.23,14.84,14.14
$GC,2804,0.61,214.3,2949,3540,2004,1844,105.5,11.9,284,2815,0.03,2.35,0.00,0.000,5126,0.400,0.050,2950,2123,1924,2004,1844,0,0,0,0,0,0,14.38,14.61,14.51
$GC,3054,0.62,239.3,2950,2121,2004,1842,80.6,8.8,309,3085,0.00,2.42,20.73,0.936,8452,0.000,0.067,2950,3543,1822,1904,1741,0,0,0,0,0,0,15.23,14.85,14.16
$GC,3141,0.62,239.3,2950,3543,1904,1741,72.0,10.7,317,3151,0.00,2.35,0.00,0.000,5126,0.000,0.048,2960,2125,1822,1904,1741,0,0,0,0,0,0,14.66,14.62,14.68
$GC,3394,0.65,279.7,2959,2124,1904,1739,49.6,8.0,342,3433,0.00,2.40,32.65,0.908,8708,0.000,0.060,2971,715,1657,1747,1567,0,0,0,0,0,0,15.21,14.81,14.16
$GC,3480,0.67,309.8,2970,714,1741,1568,42.3,8.5,350,3509,0.00,2.38,24.05,0.884,13318,0.000,0.056,2971,2125,1536,1626,1447,0,0,0,0,0,0,14.66,14.61,14.12
$GC,3762,0.67,313.7,2971,2126,1625,1441,12.7,9.9,391,3770,0.00,2.40,1.45,0.313,12548,0.000,0.063,2971,3539,1518,1610,1427,0,0,0,0,0,0,15.17,14.53,14.35
$GC,3816,0.67,313.7,2971,3539,1609,1427,5.1,14.0,400,3824,0.05,2.40,0.00,0.000,5126,0.367,0.051,2963,2128,1518,1609,1427,0,0,0,0,0,0,14.61,14.81,14.84
$STATE,3836,end climb,SURFACE_DEPTH_REACHED
$STATE,3836,begin surface coast
$FINISH,0.2,1.009052
$STATE,3860,end surface coast,CONTROL_FINISHED_OK
$STATE,3860,begin surface
$SM_CCo,3878,27.70,0.184,0,0,1248,380.21
$SM_GC,1.23,6.28,0.25,27.70,0.028,0.076,0.184,175,2285,1248,-7.91,-0.88,380.21,0,0,0,0,0,0,14.95,14.92,14.63
$IRIDIUM_FIX,2237.01,-15759.32,081021,233143
$TT8_MAMPS,0.02247,0.316078
$HUMID,53.50
$INTERNAL_PRESSURE,9.30662
$TCM_TEMP,24.20
$XPDR_PINGS,3
$24V_AH,13.83,177.369
$10V_AH,12.19,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,15.825,57.075,353.875,27.700,0.000,32.938,54.941,127.784,0.750,0.000,24.990,1049.236,1433.618,410.255,1232.609,169.186,0.000,919.142,0.000,1002.231,0.000,0.556,0.000
$DEVICE_MAMPS,429.930,75.735,1070.235,183.600,0.000,32.130,160.000,223.000,420.000,0.000,11.240,13.580,2.190,13.580,34.550,48.030,0.000,11.140,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4831,WL_BB2FL,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,268.331,296.403,554.793,504.953,586.866,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,3.750,35.950,51.680,44.190,0.000,0.000,0.000,0.000,0.000
$MEM,339060
$DATA_FILE_SIZE,37367,407
$CAP_FILE_SIZE,65806,0
$CFSIZE,1023623168,949714944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.141,246.38,1
$GPS,091021,015801,2244.950,-15800.768,8,1.0,42,9.8,0.8,243.6,8,5.9